Uart/tap yuneec esc

I am trying to replace the stock firmware of a typhoon h with ardupilot because the stock firmware refuses to lock gps. But now I need to reverse engineer the esc protocol. I think it uses the so called “TAP” uart esc protocol (as mentioned in RCOutput_Tap.cpp) but i could not find any information about using this protocol. Does anybody know how to use tap escs or have more information about the protocol?